diff --git a/IndoorMap.pro b/IndoorMap.pro
index baf8d75..692ea49 100644
--- a/IndoorMap.pro
+++ b/IndoorMap.pro
@@ -49,7 +49,8 @@ SOURCES += \
     mapview/3D/misc/Handrail.cpp \
     mapview/3D/navMesh/QNavMeshSettings.cpp \
     params/ToolBoxWidget.cpp \
-    mapview/2D/MV2DElementFloorObstacleDoor.cpp
+    mapview/2D/MV2DElementFloorObstacleDoor.cpp \
+    mapview/2D/MV2DElementFloorObstacleObject.cpp
 
 
 HEADERS  += MainWindow.h \
@@ -177,7 +178,11 @@ HEADERS  += MainWindow.h \
     mapview/3D/misc/TriangleData.h \
     mapview/3D/floorplan/FloorplanRendererModel.h \
     mapview/3D/floorplan/FloorplanRenderer.h \
-    mapview/3D/floorplan/RenderTriangle.h
+    mapview/3D/floorplan/RenderTriangle.h \
+    mapview/2D/MV2DElementFloorObstacleObject.h \
+    mapview/model/MMFloorObstacleObject.h \
+    mapview/3D/MV3DElementFloorObstacleObject.h \
+    mapview/2D/tools/ToolNewObject.h
 
 
 FORMS    += MainWindow.ui
diff --git a/MainController.cpp b/MainController.cpp
index bfe0710..b609756 100644
--- a/MainController.cpp
+++ b/MainController.cpp
@@ -28,6 +28,7 @@
 
 #include "mapview/3D/grid/GridRenderer.h"
 
+#include <Indoor/wifi/estimate/ray3/OBJPool.h>
 
 
 
@@ -102,6 +103,8 @@ MainController::MainController() {
 	connect(mw, &MainWindow::onGridNodeColorType, [&] () {mw->getMapView3D()->getGridRenderer()->setNodeColorMode(GridRendererColorMode::SHOW_NODE_TYPE);} );
 	connect(mw, &MainWindow::onGridShowEdges, [&] (const bool show) {mw->getMapView3D()->getGridRenderer()->setShowEdges(show);} );
 
+	Ray3D::OBJPool::get().init("/mnt/vm/paper/diss/code/IndoorMap/res/mdl/");
+
 	//mapModel->load("../IndoorMap/maps/SHL36_noel.xml");
 	//mapModel->load("../IndoorMap/maps/SHL38_no_elev.xml");
 	//mapModel->load("/apps/testmap.xml");
@@ -110,7 +113,8 @@ MainController::MainController() {
 
 	//mapModel->load("/mnt/vm/paper/diss/data/maps/test_in_out_overlap.xml");
 
-	mapModel->load("/mnt/vm/paper/diss/data/maps/SHL42_nm.xml");
+	mapModel->load("/mnt/vm/paper/diss/data/maps/walkmodel_stairs3.xml");
+	//mapModel->load("/mnt/vm/paper/diss/data/maps/SHL42_nm.xml");
 	//mapModel->load("/apps/paper/diss/data/maps/SHL41_nm.xml");
 
 	//mapModel->load("/mnt/sdcard/SHL41_nm.xml");
diff --git a/UIHelper.h b/UIHelper.h
index 909c7e7..4fc2edd 100644
--- a/UIHelper.h
+++ b/UIHelper.h
@@ -6,6 +6,7 @@
 #include <QImage>
 #include <QPainter>
 #include <QRgb>
+#include <QIcon>
 
 #include <QtSvg/QSvgRenderer>
 
diff --git a/mapview/2D/MV2DElementAccessPoint.h b/mapview/2D/MV2DElementAccessPoint.h
index 8c6b132..3afc9b3 100644
--- a/mapview/2D/MV2DElementAccessPoint.h
+++ b/mapview/2D/MV2DElementAccessPoint.h
@@ -38,6 +38,11 @@ public:
 	/** repaint me */
 	void paint(Painter& p) override {
 
+		// invisible? -> leave
+		if (!p.isVisible(ap->pos.xy())) {
+			return;
+		}
+
 		static const QPixmap& pixmapUnfocused = UIHelper::getPixmapColored("wifi", CFG::UNFOCUS_COLOR, 16);
 		static const QPixmap& pixmapFocused = UIHelper::getPixmapColored("wifi", CFG::FOCUS_COLOR, 16);
 		static const QPixmap& pixmapSel = UIHelper::getPixmapColored("wifi", CFG::SEL_COLOR, 16);
diff --git a/mapview/2D/MV2DElementFingerprintLocation.h b/mapview/2D/MV2DElementFingerprintLocation.h
index 5a978d3..89eea4e 100644
--- a/mapview/2D/MV2DElementFingerprintLocation.h
+++ b/mapview/2D/MV2DElementFingerprintLocation.h
@@ -38,6 +38,11 @@ public:
 	/** repaint me */
 	void paint(Painter& p) override {
 
+		// invisible? -> leave
+		if (!p.isVisible(fpl->posOnFloor)) {
+			return;
+		}
+
 		static const QPixmap& pixmapUnfocused = UIHelper::getPixmapColored("fingerprint", CFG::UNFOCUS_COLOR, 16);
 		static const QPixmap& pixmapFocused = UIHelper::getPixmapColored("fingerprint", CFG::FOCUS_COLOR, 16);
 		static const QPixmap& pixmapSel = UIHelper::getPixmapColored("fingerprint", CFG::SEL_COLOR, 16);
diff --git a/mapview/2D/MV2DElementFloorObstacleDoor.cpp b/mapview/2D/MV2DElementFloorObstacleDoor.cpp
index c7a0f1b..18c82a5 100644
--- a/mapview/2D/MV2DElementFloorObstacleDoor.cpp
+++ b/mapview/2D/MV2DElementFloorObstacleDoor.cpp
@@ -23,6 +23,11 @@ ClickDist MV2DElementFloorObstacleDoor::getMinDistanceXY(const Point2 p) const {
 
 void MV2DElementFloorObstacleDoor::paint(Painter& p) {
 
+	// invisible? -> leave
+	if (!p.isVisible( (fo->from+fo->to)/2 )) {
+		return;
+	}
+
 	// selected endpoints?
 	if (hasFocus()) {
 		p.setPenBrush(Qt::NoPen, CFG::SEL_COLOR);
diff --git a/mapview/2D/MV2DElementFloorObstacleObject.cpp b/mapview/2D/MV2DElementFloorObstacleObject.cpp
new file mode 100644
index 0000000..33f34e1
--- /dev/null
+++ b/mapview/2D/MV2DElementFloorObstacleObject.cpp
@@ -0,0 +1,134 @@
+#include "MV2DElementFloorObstacleObject.h"
+
+#include "MapViewElementHelper.h"
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include <Indoor/wifi/estimate/ray3/OBJPool.h>
+
+#include "../../UIHelper.h"
+
+
+
+MV2DElementFloorObstacleObject::MV2DElementFloorObstacleObject(Floorplan::FloorObstacleObject* fo) : fo(fo) {
+	;
+}
+
+
+BBox2 MV2DElementFloorObstacleObject::getBoundingBox() const {
+	BBox2 bbox;
+	bbox.add(Point2(fo->pos.x, fo->pos.y));
+	bbox.grow(Point2(0.1, 0.1));
+	return bbox;
+}
+
+ClickDist MV2DElementFloorObstacleObject::getMinDistanceXY(const Point2 p) const {
+	return ClickDist(p.getDistance(fo->pos.xy()), ClickDistType::DIRECT);
+}
+
+//#include <unordered_map>
+//struct Cache {
+//	struct Line {
+//		Point2 p1;
+//		Point2 p2;
+//		Line(Point2 p1, Point2 p2) : p1(p1), p2(p2) {;}
+//	};
+//	struct Entry {
+//		const Floorplan::FloorObstacleObject* obj = nullptr;
+//		std::vector<Line> lines;
+//	};
+//	Entry e;
+//	const Entry& get(const Floorplan::FloorObstacleObject* obj) {
+//		if (e.obj == nullptr || e.obj->file != obj->file || e.obj->pos != obj->pos || e.obj->rot != obj->rot) {
+//			e.obj = obj;
+//			e.lines.clear();
+//			const Ray3D::Obstacle3D obs = Ray3D::OBJPool::get().getObject(obj->file).rotated_deg(obj->rot).translated(obj->pos);
+//			for (const Triangle3& tria : obs.triangles) {
+//				if (tria.p1.xy() != tria.p2.xy()) {
+//					e.lines.push_back( Line (tria.p1.xy(), tria.p2.xy()) );
+//				}
+//			}
+//			return e;
+//		}
+//	}
+//} cache;
+
+
+void MV2DElementFloorObstacleObject::paint(Painter& p) {
+
+	static const QPixmap& pixmapUnfocused = UIHelper::getPixmapColored("objects", CFG::UNFOCUS_COLOR, 16);
+	static const QPixmap& pixmapFocused = UIHelper::getPixmapColored("objects", CFG::FOCUS_COLOR, 16);
+	static const QPixmap& pixmapSel = UIHelper::getPixmapColored("objects", CFG::SEL_COLOR, 16);
+
+	// invisible? -> leave
+	if (!p.isVisible(fo->pos.xy())) {
+		return;
+	}
+
+	if (p.getScaler().getScale() >= 40) {
+		// TODO: quite costly... cache??
+		p.setPenBrush(Qt::black, Qt::NoBrush);
+//		const Cache::Entry& e = cache.get(fo);
+//		for (const Cache::Line& l : e.lines) {
+//			p.drawLine(l.p1, l.p2);
+//		}
+		const Ray3D::Obstacle3D obs = Ray3D::OBJPool::get().getObject(fo->file).rotated_deg(fo->rot).translated(fo->pos);
+		for (const Triangle3& tria : obs.triangles) {
+			if (tria.p1.xy() != tria.p2.xy()) {
+				p.drawLine( tria.p1.xy(), tria.p2.xy() );
+			}
+		}
+	}
+
+	if (p.getScaler().getScale() >= 20) {
+		if (selectedUserIdx == 0) {
+			p.drawPixmap(fo->pos.xy(), pixmapSel);
+		} else if (hasFocus()) {
+			p.drawPixmap(fo->pos.xy(), pixmapFocused);
+		} else {
+			p.drawPixmap(fo->pos.xy(), pixmapUnfocused);
+		}
+	}
+
+	//p.setPenBrush(Qt::black, Qt::NoBrush);
+	//p.drawDot(fo->pos.xy());
+
+}
+
+std::vector<MoveableNode> MV2DElementFloorObstacleObject::getMoveableNodes() const {
+	return { MoveableNode(0, fo->pos.xy()) };
+}
+
+void MV2DElementFloorObstacleObject::onNodeMove(MapView2D* v, const int userIdx, const Point2 newPos) {
+	(void) v;
+	if (userIdx == 0) {fo->pos.x = newPos.x; fo->pos.y = newPos.y;}
+}
+
+
+void MV2DElementFloorObstacleObject::mousePressed(MapView2D* v, const Point2 p) {
+	(void) v;
+	(void) p;
+}
+
+void MV2DElementFloorObstacleObject::mouseMove(MapView2D* v, const Point2 p) {
+	(void) v;
+	(void) p;
+}
+
+void MV2DElementFloorObstacleObject::mouseReleased(MapView2D* v, const Point2 p) {
+	(void) v;
+	(void) p;
+}
+
+bool MV2DElementFloorObstacleObject::keyPressEvent(MapView2D* v, QKeyEvent *e) {
+	(void) v;
+	(void) e;
+	return false;
+}
+
+void MV2DElementFloorObstacleObject::onFocus() {
+	;
+}
+
+void MV2DElementFloorObstacleObject::onUnfocus() {
+	;
+}
+
diff --git a/mapview/2D/MV2DElementFloorObstacleObject.h b/mapview/2D/MV2DElementFloorObstacleObject.h
new file mode 100644
index 0000000..de64f52
--- /dev/null
+++ b/mapview/2D/MV2DElementFloorObstacleObject.h
@@ -0,0 +1,51 @@
+#ifndef MV2DELEMENTFLOOROBSTACLEOBJECT_H
+#define MV2DELEMENTFLOOROBSTACLEOBJECT_H
+
+#include "MV2DElement.h"
+#include "HasMoveableNodes.h"
+
+//#include "MapViewElementHelper.h"
+#include <Indoor/floorplan/v2/Floorplan.h>
+//#include <stdio.h>
+
+//#include "../../UIHelper.h"
+
+class MV2DElementFloorObstacleObject : public MV2DElement, public HasMoveableNodes {
+
+private:
+
+	//bool sel = false;
+	Floorplan::FloorObstacleObject* fo;
+
+public:
+
+	/** ctor with the AP to render/edit */
+	MV2DElementFloorObstacleObject(Floorplan::FloorObstacleObject* fo);
+
+	BBox2 getBoundingBox() const override;
+
+	/** get the element's minimal distance (nearest whatsoever) to the given point */
+	ClickDist getMinDistanceXY(const Point2 p) const override;
+
+	/** repaint me */
+	void paint(Painter& p) override;
+
+	virtual std::vector<MoveableNode> getMoveableNodes() const override;
+
+	virtual void onNodeMove(MapView2D* v, const int userIdx, const Point2 newPos) override;
+
+	virtual void mousePressed(MapView2D* v, const Point2 p) override;
+
+	virtual void mouseMove(MapView2D* v, const Point2 p) override;
+
+	virtual void mouseReleased(MapView2D* v, const Point2 p) override;
+
+	virtual bool keyPressEvent(MapView2D* v, QKeyEvent *e) override;
+
+	virtual void onFocus() override;
+
+	virtual void onUnfocus() override;
+
+};
+
+#endif // MV2DELEMENTFLOOROBSTACLELINE_H
diff --git a/mapview/2D/MV2DElementGroundTruthPoint.h b/mapview/2D/MV2DElementGroundTruthPoint.h
index 8fd00ad..e5abacf 100644
--- a/mapview/2D/MV2DElementGroundTruthPoint.h
+++ b/mapview/2D/MV2DElementGroundTruthPoint.h
@@ -37,6 +37,11 @@ public:
     /** repaint me */
     void paint(Painter& p) override {
 
+		// invisible? -> leave
+		if (!p.isVisible(gtp->pos.xy())) {
+			return;
+		}
+
         static const QPixmap& pixmapUnfocused = UIHelper::getPixmapColored("gtp", CFG::UNFOCUS_COLOR, 16);
         static const QPixmap& pixmapFocused = UIHelper::getPixmapColored("gtp", CFG::FOCUS_COLOR, 16);
         static const QPixmap& pixmapSel = UIHelper::getPixmapColored("gtp", CFG::SEL_COLOR, 16);
diff --git a/mapview/2D/MV2DElementPOI.h b/mapview/2D/MV2DElementPOI.h
index aee6d92..a3f6bc9 100644
--- a/mapview/2D/MV2DElementPOI.h
+++ b/mapview/2D/MV2DElementPOI.h
@@ -37,6 +37,11 @@ public:
 	/** repaint me */
 	void paint(Painter& p) override {
 
+		// invisible? -> leave
+		if (!p.isVisible(poi->pos)) {
+			return;
+		}
+
 		static const QPixmap& pixmapUnfocused = UIHelper::getPixmapColored("poi", CFG::UNFOCUS_COLOR, 16);
 		static const QPixmap& pixmapFocused = UIHelper::getPixmapColored("poi", CFG::FOCUS_COLOR, 16);
 		static const QPixmap& pixmapSel = UIHelper::getPixmapColored("poi", CFG::SEL_COLOR, 16);
diff --git a/mapview/2D/MV2DElementRegistrationPoint.h b/mapview/2D/MV2DElementRegistrationPoint.h
index 9e70f30..2e56a03 100644
--- a/mapview/2D/MV2DElementRegistrationPoint.h
+++ b/mapview/2D/MV2DElementRegistrationPoint.h
@@ -40,6 +40,11 @@ public:
 	/** repaint me */
 	void paint(Painter& p) override {
 
+		// invisible? -> leave
+		if (!p.isVisible(reg->posOnMap_m.xy())) {
+			return;
+		}
+
 		static const QPixmap& pixmapUnfocused = UIHelper::getPixmapColored("registration", CFG::UNFOCUS_COLOR, 16);
 		static const QPixmap& pixmapFocused = UIHelper::getPixmapColored("registration", CFG::FOCUS_COLOR, 16);
 		static const QPixmap& pixmapSel = UIHelper::getPixmapColored("registration", CFG::SEL_COLOR, 16);
diff --git a/mapview/2D/MV2DElementStair.h b/mapview/2D/MV2DElementStair.h
index 816d152..f0465f7 100644
--- a/mapview/2D/MV2DElementStair.h
+++ b/mapview/2D/MV2DElementStair.h
@@ -95,6 +95,18 @@ public:
 		std::vector<Floorplan::StairPart> parts = stair->getParts();
 		std::vector<Floorplan::Quad3> quads = Floorplan::getQuads(parts, floor);
 
+		// skip drawing?
+		BBox2 bbox;
+		for (const Floorplan::Quad3& q : quads) {
+			bbox.add(q.p1.xy());
+			bbox.add(q.p2.xy());
+			bbox.add(q.p3.xy());
+			bbox.add(q.p4.xy());
+		}
+		if (!p.isVisible(bbox)) {
+			return;
+		}
+
 		for (int i = 0; i < (int) parts.size(); ++i) {
 
 			const Floorplan::StairPart& part = parts[i];
diff --git a/mapview/2D/Painter.h b/mapview/2D/Painter.h
index 5be62f5..fdb502d 100644
--- a/mapview/2D/Painter.h
+++ b/mapview/2D/Painter.h
@@ -6,6 +6,7 @@
 
 #include <Indoor/geo/Point2.h>
 #include <Indoor/geo/Point3.h>
+#include <Indoor/geo/BBox2.h>
 
 #include "Scaler.h"
 
@@ -30,6 +31,22 @@ public:
 
 	int height() {return h;}
 
+	/** is the given point visible on screen? */
+	bool isVisible(const Point2 p) {
+		const float x = s.xms(p.x);
+		const float y = s.yms(p.y);
+		return (x >= 0 && y >= 0  && x < w && y < h);
+	}
+
+	/** is the given volume visible on screen? */
+	bool isVisible(const BBox2 bb) {
+		const BBox2 bbt(0,0,w,h);
+		BBox2 bbs;
+		bbs.add(s.xms(bb.getMin().x), s.yms(bb.getMin().y));	// y might be inverted! -> use the add() method to address this
+		bbs.add(s.xms(bb.getMax().x), s.yms(bb.getMax().y));	// y might be inverted! -> use the add() method to address this
+		return bbt.intersects(bbs);
+	}
+
 	void drawLine(const Point2 p1, const Point2 p2) {
 		p->drawLine(s.xms(p1.x), s.yms(p1.y), s.xms(p2.x), s.yms(p2.y));
 	}
diff --git a/mapview/2D/tools/ToolNewObject.h b/mapview/2D/tools/ToolNewObject.h
new file mode 100644
index 0000000..a6b085d
--- /dev/null
+++ b/mapview/2D/tools/ToolNewObject.h
@@ -0,0 +1,49 @@
+#ifndef TOOLNEWOBJECT_H
+#define TOOLNEWOBJECT_H
+
+
+#include "ToolNewElement.h"
+#include "../../model/MMFloorObstacles.h"
+#include "../../model/MMFloorObstacleObject.h"
+
+class ToolNewObject : public ToolNewElement<Floorplan::FloorObstacleObject, MMFloorObstacleObject> {
+
+public:
+
+	ToolNewObject(Tools& tools, MapLayer* layer) : ToolNewElement(tools, layer) {
+		;
+	}
+
+	void becomesActive() override {
+		emit onHelpTextChange("left-click where to place a new object. right-click to end.");
+	}
+
+	void becomesInactive() override {
+		;
+	}
+
+	const std::string getName() const override {
+		return "new Object/Furniture/...";
+	}
+
+	void moving(const Point2 mapPoint) override {
+		(void) mapPoint;
+	}
+
+	/** next point */
+	void leftMouse(const Point2 mapPoint) override {
+		foEL = new Floorplan::FloorObstacleObject("", Point3(mapPoint.x, mapPoint.y, 0.0), Point3(0,0,0));
+		MMFloorObstacles* obs = (MMFloorObstacles*)layer;
+		mmEL = obs->createObject(foEL);
+	}
+
+	void rightMouse(const Point2 mapPoint) override {
+		(void) mapPoint;
+		finalizeCurrent();
+		disableMe();
+	}
+
+};
+
+
+#endif // TOOLNEWOBJECT_H
diff --git a/mapview/3D/MV3DElementFloorObstacleObject.h b/mapview/3D/MV3DElementFloorObstacleObject.h
new file mode 100644
index 0000000..7f0fac1
--- /dev/null
+++ b/mapview/3D/MV3DElementFloorObstacleObject.h
@@ -0,0 +1,42 @@
+#ifndef MV3DELEMENTFLOOROBSTACLEOBJECT_H
+#define MV3DELEMENTFLOOROBSTACLEOBJECT_H
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+#include <Indoor/math/Math.h>
+
+#include "misc/Cube.h"
+#include "misc/Window.h"
+#include "misc/Handrail.h"
+
+#include "MV3DElement.h"
+
+class MV3DElementFloorObstacleObject : public MV3DElement {
+
+	Floorplan::Floor* f;
+	Floorplan::FloorObstacleObject* fo;
+
+public:
+
+	/** ctor */
+	MV3DElementFloorObstacleObject(Floorplan::Floor* f, Floorplan::FloorObstacleObject* fo) : f(f), fo(fo) {
+		;
+	}
+
+protected:
+
+
+	/** repaint me */
+	void render(const RenderSettings& rs) override {
+
+		// TODO
+
+	}
+
+	bool isTransparent() const override {
+		return false;
+	}
+
+
+};
+
+#endif // MV3DELEMENTFLOOROBSTACLEOBJECT_H
diff --git a/mapview/3D/MapView3D.cpp b/mapview/3D/MapView3D.cpp
index 7a90f03..5695fd2 100644
--- a/mapview/3D/MapView3D.cpp
+++ b/mapview/3D/MapView3D.cpp
@@ -65,6 +65,18 @@ MapView3D::MapView3D(QWidget *parent) : QOpenGLWidget(parent) {
 		emit update();
 	});
 
+	QPushButton* btnExp3D = new QPushButton(UIHelper::getIcon("save"), "", this);
+	btnExp3D->setStyleSheet(style);
+	btnExp3D->setGeometry(16, 16+8+32+8+32+8+32, 32, 32);
+	connect(btnExp3D, &QPushButton::clicked, [this] () {
+		floorplanRendererModel->getMesh().exportOBJsimple("/tmp/map.obj");
+		floorplanRendererModel->getMesh().exportOBJcomplex("/tmp/map_complex", "map_complex");
+		floorplanRendererModel->getMesh().exportPLY("/tmp/map.ply");
+	});
+
+
+
+
 	QPushButton* btnGrid = new QPushButton(UIHelper::getIcon("grid"), "", this);
 	btnGrid->setCheckable(true);
 	btnGrid->setChecked(false);
diff --git a/mapview/3D/floorplan/FloorplanRendererModel.h b/mapview/3D/floorplan/FloorplanRendererModel.h
index 8334340..2e1d20e 100644
--- a/mapview/3D/floorplan/FloorplanRendererModel.h
+++ b/mapview/3D/floorplan/FloorplanRendererModel.h
@@ -39,8 +39,10 @@ private:
 
 		Material(128,128,128,255),	// concrete
 		Material(200,200,255,96),	// glass
+		Material(170,120,60,255),	// wood
+		Material(200,200,200,255),	// drywall
 
-		Material(200,200,200,255),	// default
+		Material(250,250,250,255),	// default
 
 	};
 
@@ -56,8 +58,10 @@ private:
 
 		if (o.mat == Floorplan::Material::CONCRETE)												{return 6;}
 		if (o.mat == Floorplan::Material::GLASS)												{return 7;}
+		if (o.mat == Floorplan::Material::WOOD)													{return 8;}
+		if (o.mat == Floorplan::Material::DRYWALL)												{return 9;}
 
-		return 8;
+		return 10;
 
 	}
 
diff --git a/mapview/model/MMFloorObstacleObject.h b/mapview/model/MMFloorObstacleObject.h
new file mode 100644
index 0000000..38071f0
--- /dev/null
+++ b/mapview/model/MMFloorObstacleObject.h
@@ -0,0 +1,79 @@
+#ifndef MMFLOOROBSTACLEOBJECT_H
+#define MMFLOOROBSTACLEOBJECT_H
+
+
+#include "MapModelElement.h"
+#include "../2D/MapViewElementHelper.h"
+
+#include "IHasMaterial.h"
+#include "IHasDoorType.h"
+#include "IHasParams.h"
+
+#include "../2D/MV2DElementFloorObstacleObject.h"
+#include "../3D/MV3DElementFloorObstacleObject.h"
+
+#include <Indoor/floorplan/v2/Floorplan.h>
+
+
+class MMFloorObstacleObject : public MapModelElement, public IHasParams {
+
+public:
+
+	Floorplan::Floor* mf;
+	Floorplan::FloorObstacleObject* fo;
+	MV2DElementFloorObstacleObject mv2d;
+	MV3DElementFloorObstacleObject mv3d;
+
+public:
+
+	MMFloorObstacleObject(MapLayer* parent, Floorplan::Floor* mf, Floorplan::FloorObstacleObject* fo) :
+		MapModelElement(parent), mf(mf), fo(fo), mv2d(fo), mv3d(mf,fo) {
+
+	}
+
+	MV2DElement* getMV2D() const override {return (MV2DElement*) &mv2d;}
+	MV3DElement* getMV3D() const override {return (MV3DElement*) &mv3d;}
+
+	void deleteMe() const override {
+		parent->removeElement(this);
+		mf->obstacles.erase(std::remove(mf->obstacles.begin(), mf->obstacles.end(), fo), mf->obstacles.end());
+	}
+
+	/** get the number of parameters */
+	int getNumParams() const override {
+		return 3;
+	}
+
+	/** get the description of the idx-th parameter */
+	virtual Param getParamDesc(const int idx) const override {
+		switch (idx) {
+			case 0: return Param("file", ParamType::STRING);
+			case 1: return Param("pos", ParamType::POINT3);
+			case 2: return Param("rot", ParamType::POINT3);
+			default: throw Exception("out of bounds");
+		}
+	}
+
+	/** get the idx-th param's value */
+	virtual ParamValue getParamValue(const int idx) const override {
+		switch(idx) {
+			case 0: return fo->file;
+			case 1: return fo->pos;
+			case 2: return fo->rot;
+			default: throw Exception("out of bounds");
+		}
+	}
+
+	/** set the idx-th param's value */
+	virtual void setParamValue(const int idx, const ParamValue& val) override {
+		switch (idx) {
+			case 0: fo->file = val.toString(); break;
+			case 1: fo->pos = val.toPoint3(); break;
+			case 2: fo->rot = val.toPoint3(); break;
+			default: throw Exception("out of bounds");
+		}
+	}
+
+};
+
+#endif // MMFLOOROBSTACLEOBJECT_H
diff --git a/mapview/model/MMFloorObstacles.h b/mapview/model/MMFloorObstacles.h
index ef8da91..14c192e 100644
--- a/mapview/model/MMFloorObstacles.h
+++ b/mapview/model/MMFloorObstacles.h
@@ -5,6 +5,7 @@
 #include "MMFloorObstacleCircle.h"
 #include "MMFloorObstacleLine.h"
 #include "MMFloorObstacleDoor.h"
+#include "MMFloorObstacleObject.h"
 
 #include <Indoor/floorplan/v2/Floorplan.h>
 
@@ -28,6 +29,8 @@ public:
 				addElement(new MMFloorObstacleCircle(this, floor, (Floorplan::FloorObstacleCircle*)o));
 			} else if (dynamic_cast<Floorplan::FloorObstacleDoor*>(o)) {
 				  addElement(new MMFloorObstacleDoor(this, floor, (Floorplan::FloorObstacleDoor*)o));
+			} else if (dynamic_cast<Floorplan::FloorObstacleObject*>(o)) {
+				  addElement(new MMFloorObstacleObject(this, floor, (Floorplan::FloorObstacleObject*)o));
 			} else {
 				throw new Exception("todo: not yet implemented obstacle type");
 			}
@@ -84,6 +87,19 @@ public:
 
 	}
 
+	//TODO: check
+	MMFloorObstacleObject* createObject(Floorplan::FloorObstacleObject* obs) {
+
+		// add to underlying model
+		floor->obstacles.push_back(obs);
+
+		// add to myself as element
+		MMFloorObstacleObject* mm = new MMFloorObstacleObject(this, floor, obs);
+		addElement(mm);
+		return mm;
+
+	}
+
 
 	std::string getLayerName() const override {return "obstacles";}
 
diff --git a/params/ToolBoxWidget.cpp b/params/ToolBoxWidget.cpp
index 35bf4fc..f10ffdb 100644
--- a/params/ToolBoxWidget.cpp
+++ b/params/ToolBoxWidget.cpp
@@ -30,6 +30,7 @@
 #include "../mapview/2D/tools/ToolNewAccessPoint.h"
 #include "../mapview/2D/tools/ToolNewBeacon.h"
 #include "../mapview/2D/tools/ToolNewPOI.h"
+#include "../mapview/2D/tools/ToolNewObject.h"
 
 #include "../UIHelper.h"
 
@@ -89,6 +90,11 @@ ToolBoxWidget::ToolBoxWidget(MapView2D* view, QWidget *parent) : QWidget(parent)
 	lay->addWidget(btnDoor, r++, 0, 1,1,Qt::AlignTop);
 	connect(btnDoor, SIGNAL(clicked(bool)), this, SLOT(onNewDoor()));
 
+	btnObject = new QPushButton(UIHelper::getIcon("objects"), "");
+	btnObject->setMinimumSize(s,s);
+	lay->addWidget(btnObject, r++, 0, 1,1,Qt::AlignTop);
+	connect(btnObject, SIGNAL(clicked(bool)), this, SLOT(onNewObject()));
+
 	btnStair = new QPushButton(UIHelper::getIcon("stair"), "");
 	btnStair->setMinimumSize(s,s);
 	lay->addWidget(btnStair, r++, 0, 1,1,Qt::AlignTop);
@@ -133,11 +139,11 @@ ToolBoxWidget::ToolBoxWidget(MapView2D* view, QWidget *parent) : QWidget(parent)
 	lay->addWidget(btnPOI, r++, 0, 1,1,Qt::AlignTop);
 	connect(btnPOI, SIGNAL(clicked(bool)), this, SLOT(onNewPOI()));
 
-    // GROUNDTRUTH
-    btnGTP = new QPushButton(UIHelper::getIcon("gtp"), "");
-    btnGTP->setMinimumSize(s,s);
-    lay->addWidget(btnGTP, r++, 0, 1,1,Qt::AlignTop);
-    connect(btnGTP, SIGNAL(clicked(bool)), this, SLOT(onNewGTP()));
+	// GROUNDTRUTH
+	btnGTP = new QPushButton(UIHelper::getIcon("gtp"), "");
+	btnGTP->setMinimumSize(s,s);
+	lay->addWidget(btnGTP, r++, 0, 1,1,Qt::AlignTop);
+	connect(btnGTP, SIGNAL(clicked(bool)), this, SLOT(onNewGTP()));
 
 
 
@@ -179,6 +185,7 @@ void ToolBoxWidget::onMainToolChanged() {
 
 	btnDoor->setStyleSheet( dynamic_cast<ToolNewDoor*>(t) ? styleSel : styleNor );
 	btnWall->setStyleSheet( dynamic_cast<ToolNewWall*>(t) ? styleSel : styleNor );
+	btnObject->setStyleSheet( dynamic_cast<ToolNewWall*>(t) ? styleSel : styleNor );
 	btnElevator->setStyleSheet( dynamic_cast<ToolNewElevator*>(t) ? styleSel : styleNor );
 	btnStair->setStyleSheet( dynamic_cast<ToolNewStair*>(t) ? styleSel : styleNor );
 
@@ -199,6 +206,7 @@ void ToolBoxWidget::setSelectedLayer(MapLayer *ml) {
 	btnWall->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_OBSTACLES));
 	btnPillar->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_OBSTACLES));
 	btnDoor->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_OBSTACLES));
+	btnObject->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_OBSTACLES));
 
 	btnStair->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_STAIRS));
 	btnElevator->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_ELEVATORS));
@@ -207,7 +215,7 @@ void ToolBoxWidget::setSelectedLayer(MapLayer *ml) {
 	btnBeacon->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_BEACONS));
 	btnFingerprintLocation->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_FINGERPRINTS));
 	btnPOI->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_POIS));
-    btnGTP->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_GROUND_TRUTH_POINTS));
+	btnGTP->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_GROUND_TRUTH_POINTS));
 
 	btnImage->setEnabled(ml && (ml->getLayerType() == MapLayerType::FLOOR_UNDERLAYS));
 
@@ -255,6 +263,10 @@ void ToolBoxWidget::onNewDoor() {
 	view->getTools().setMain(new ToolNewDoor(view->getTools(), curLayer));
 }
 
+void ToolBoxWidget::onNewObject() {
+	view->getTools().setMain(new ToolNewObject(view->getTools(), curLayer));
+}
+
 void ToolBoxWidget::onNewPillar() {
 
 	const Point2 center = view->getScaler().getCenter();
diff --git a/params/ToolBoxWidget.h b/params/ToolBoxWidget.h
index ef81aa4..2ecc967 100644
--- a/params/ToolBoxWidget.h
+++ b/params/ToolBoxWidget.h
@@ -42,6 +42,7 @@ private:
 	QPushButton* btnWall;
 	QPushButton* btnPillar;
 	QPushButton* btnDoor;
+	QPushButton* btnObject;
 	QPushButton* btnStair;
 	QPushButton* btnElevator;
 
@@ -64,6 +65,7 @@ private slots:
 	void onNewWall();
 	void onNewPillar();
 	void onNewDoor();
+	void onNewObject();
 	void onNewStair();
 	void onNewElevator();
 
@@ -71,7 +73,7 @@ private slots:
 	void onNewBeacon();
 	void onNewFingerprintLocation();
 	void onNewPOI();
-    void onNewGTP();
+	void onNewGTP();
 
 	void onNewImage();
 
diff --git a/res.qrc b/res.qrc
index 2371e34..0870d68 100644
--- a/res.qrc
+++ b/res.qrc
@@ -25,5 +25,8 @@
         <file>res/icons/floorplan.svg</file>
         <file>res/icons/grid.svg</file>
         <file>res/icons/wireframe.svg</file>
+        <file>res/icons/save.svg</file>
+        <file>res/icons/load.svg</file>
+        <file>res/icons/objects.svg</file>
     </qresource>
 </RCC>
diff --git a/res/icons/load.svg b/res/icons/load.svg
new file mode 100644
index 0000000..e78b646
--- /dev/null
+++ b/res/icons/load.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24"><path d="M2 9l-1-7h5.694c1.265 1.583 1.327 2 3.306 2h13l-1 5h-4.193l-3.9-3-1.464 1.903 1.428 1.097h-1.971l-3.9-3-2.307 3h-3.693zm-2 2l2 11h20l2-11h-24z"/></svg>
\ No newline at end of file
diff --git a/res/icons/objects.svg b/res/icons/objects.svg
new file mode 100644
index 0000000..bd53493
--- /dev/null
+++ b/res/icons/objects.svg
@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="iso-8859-1"?>
+<!-- Generator: Adobe Illustrator 16.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0)  -->
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" id="Capa_1" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" x="0px" y="0px"
+	 width="49.16px" height="49.16px" viewBox="0 0 49.16 49.16" style="enable-background:new 0 0 49.16 49.16;" xml:space="preserve"
+	>
+<g>
+	<g>
+		<g>
+			<path d="M43.58,22.577c-4.411,0-8,3.589-8,8v1.461c-1.771-0.633-5.197-1.461-11-1.461c-5.803,0-9.228,0.828-11,1.461v-1.461
+				c0-4.411-3.589-8-8-8c-2.757,0-5,2.243-5,5c0,2.023,1.208,3.838,3.079,4.617c0.56,0.234,0.921,0.777,0.921,1.383l1,4
+				c0,3.59,2.719,6.555,6.206,6.952c-0.821,0.392-1.393,1.224-1.393,2.192c0,1.348,1.092,2.438,2.438,2.438s2.438-1.092,2.438-2.438
+				c0-0.934-0.532-1.734-1.304-2.146h21.233c-0.772,0.409-1.304,1.211-1.304,2.146c0,1.348,1.092,2.438,2.438,2.438
+				s2.438-1.092,2.438-2.438c0-0.97-0.571-1.802-1.394-2.192c3.484-0.397,6.203-3.362,6.203-6.952l1-4
+				c0-0.606,0.361-1.147,0.921-1.383c1.871-0.778,3.079-2.594,3.079-4.617C48.58,24.82,46.337,22.577,43.58,22.577z"/>
+			<path d="M16.33,28.239c2.081-0.38,4.79-0.662,8.25-0.662s6.169,0.282,8.25,0.662c0.786-3.62,3.363-6.574,6.751-7.901V15
+				c0-8.284-6.716-15-15.001-15c-8.284,0-15,6.716-15,15v5.339C12.967,21.666,15.544,24.62,16.33,28.239z"/>
+		</g>
+	</g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+<g>
+</g>
+</svg>
diff --git a/res/icons/save.svg b/res/icons/save.svg
new file mode 100644
index 0000000..d383f09
--- /dev/null
+++ b/res/icons/save.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="24" height="24" viewBox="0 0 24 24"><path d="M15.003 3h2.997v5h-2.997v-5zm8.997 1v20h-24v-24h20l4 4zm-19 5h14v-7h-14v7zm16 4h-18v9h18v-9z"/></svg>
\ No newline at end of file